1/* @(#) $Header$ (LBL) */ 2 3/* 4 * Rockwell Jupiter GPS receiver definitions 5 * 6 * This is all based on the "Zodiac GPS Receiver Family Designer's 7 * Guide" (dated 12/96) 8 */ 9 10#define JUPITER_SYNC 0x81ff /* sync word (book says 0xff81 !?!?) */ 11#define JUPITER_ALL 0xffff /* disable all output messages */ 12 13/* Output messages (sent by the Jupiter board) */ 14#define JUPITER_O_GPOS 1000 /* geodetic position status */ 15#define JUPITER_O_EPOS 1001 /* ECEF position status */ 16#define JUPITER_O_CHAN 1002 /* channel summary */ 17#define JUPITER_O_VIS 1003 /* visible satellites */ 18#define JUPITER_O_DGPS 1005 /* differential GPS status */ 19#define JUPITER_O_MEAS 1007 /* channel measurement */ 20#define JUPITER_O_ID 1011 /* receiver id */ 21#define JUPITER_O_USER 1012 /* user-settings output */ 22#define JUPITER_O_TEST 1100 /* built-in test results */ 23#define JUPITER_O_MARK 1102 /* measurement time mark */ 24#define JUPITER_O_PULSE 1108 /* UTC time mark pulse output */ 25#define JUPITER_O_PORT 1130 /* serial port com parameters in use */ 26#define JUPITER_O_EUP 1135 /* EEPROM update */ 27#define JUPITER_O_ESTAT 1136 /* EEPROM status */ 28 29/* Input messages (sent to the Jupiter board) */ 30#define JUPITER_I_PVTINIT 1200 /* geodetic position and velocity */ 31#define JUPITER_I_USER 1210 /* user-defined datum */ 32#define JUPITER_I_MAPSEL 1211 /* map datum select */ 33#define JUPITER_I_ELEV 1212 /* satellite elevation mask control */ 34#define JUPITER_I_CAND 1213 /* satellite candidate select */ 35#define JUPITER_I_DGPS 1214 /* differential GPS control */ 36#define JUPITER_I_COLD 1216 /* cold start control */ 37#define JUPITER_I_VALID 1217 /* solution validity criteria */ 38#define JUPITER_I_ALT 1219 /* user-entered altitude input */ 39#define JUPITER_I_PLAT 1220 /* application platform control */ 40#define JUPITER_I_NAV 1221 /* nav configuration */ 41#define JUPITER_I_TEST 1300 /* preform built-in test command */ 42#define JUPITER_I_RESTART 1303 /* restart command */ 43#define JUPITER_I_PORT 1330 /* serial port com parameters */ 44#define JUPITER_I_PROTO 1331 /* message protocol control */ 45#define JUPITER_I_RDGPS 1351 /* raw DGPS RTCM SC-104 data */ 46 47struct jheader { 48 u_short sync; /* (JUPITER_SYNC) */ 49 u_short id; /* message id */ 50 u_short len; /* number of data short wordss (w/o cksum) */ 51 u_char reqid; /* JUPITER_REQID_MASK bits available as id */ 52 u_char flags; /* flags */ 53 u_short hsum; /* header cksum */ 54}; 55 56#define JUPITER_REQID_MASK 0x3f /* bits available as id */ 57#define JUPITER_FLAG_NAK 0x01 /* negative acknowledgement */ 58#define JUPITER_FLAG_ACK 0x02 /* acknowledgement */ 59#define JUPITER_FLAG_REQUEST 0x04 /* request ACK or NAK */ 60#define JUPITER_FLAG_QUERY 0x08 /* request one shot output message */ 61#define JUPITER_FLAG_LOG 0x20 /* request periodic output message */ 62#define JUPITER_FLAG_CONN 0x40 /* enable periodic message */ 63#define JUPITER_FLAG_DISC 0x80 /* disable periodic message */ 64 65#define JUPITER_H_FLAG_BITS \ 66 "\020\1NAK\2ACK\3REQUEST\4QUERY\5MBZ\6LOG\7CONN\10DISC" 67 68/* Log request messages (data payload when using JUPITER_FLAG_LOG) */ 69struct jrequest { 70 u_short trigger; /* if 0, trigger on time trigger on 71 update (e.g. new almanac) */ 72 u_short interval; /* frequency in seconds */ 73 u_short offset; /* offset into minute */ 74 u_short dsum; /* checksum */ 75}; 76 77/* JUPITER_O_GPOS (1000) */ 78struct jgpos { 79 u_short stime[2]; /* set time (10 ms ticks) */ 80 u_short seq; /* sequence number */ 81 u_short sseq; /* sat measurement sequence number */ 82 u_short navval; /* navigation soltuion validity */ 83 u_short navtype; /* navigation solution type */ 84 u_short nmeas; /* # of measurements used in solution */ 85 u_short polar; /* if 1 then polar navigation */ 86 u_short gweek; /* GPS week number */ 87 u_short sweek[2]; /* GPS seconds into week */ 88 u_short nsweek[2]; /* GPS nanoseconds into second */ 89 u_short utcday; /* 1 to 31 */ 90 u_short utcmon; /* 1 to 12 */ 91 u_short utcyear; /* 1980 to 2079 */ 92 u_short utchour; /* 0 to 23 */ 93 u_short utcmin; /* 0 to 59 */ 94 u_short utcsec; /* 0 to 59 */ 95 u_short utcnsec[2]; /* 0 to 999999999 */ 96 u_short lat[2]; /* latitude (radians) */ 97 u_short lon[2]; /* longitude (radians) */ 98 u_short height[2]; /* height (meters) */ 99 u_short gsep; /* geoidal separation */ 100 u_short speed[2]; /* ground speed (meters/sec) */ 101 u_short course; /* true course (radians) */ 102 u_short mvar; 103 u_short climb; 104 u_short mapd; 105 u_short herr[2]; 106 u_short verr[2]; 107 u_short terr[2]; 108 u_short hverr; 109 u_short bias[2]; 110 u_short biassd[2]; 111 u_short drift[2]; 112 u_short driftsd[2]; 113 u_short dsum; /* checksum */ 114}; 115#define JUPITER_O_GPOS_NAV_NOALT 0x01 /* altitude used */ 116#define JUPITER_O_GPOS_NAV_NODGPS 0x02 /* no differential GPS */ 117#define JUPITER_O_GPOS_NAV_NOSAT 0x04 /* not enough satellites */ 118#define JUPITER_O_GPOS_NAV_MAXH 0x08 /* exceeded max EHPE */ 119#define JUPITER_O_GPOS_NAV_MAXV 0x10 /* exceeded max EVPE */ 120 121/* JUPITER_O_CHAN (1002) */ 122struct jchan { 123 u_short stime[2]; /* set time (10 ms ticks) */ 124 u_short seq; /* sequence number */ 125 u_short sseq; /* sat measurement sequence number */ 126 u_short gweek; /* GPS week number */ 127 u_short sweek[2]; /* GPS seconds into week */ 128 u_short gpsns[2]; /* GPS nanoseconds from epoch */ 129 struct jchan2 { 130 u_short flags; /* flags */ 131 u_short prn; /* satellite PRN */ 132 u_short chan; /* channel number */ 133 } sat[12]; 134 u_short dsum; 135}; 136 137/* JUPITER_O_VIS (1003) */ 138struct jvis { 139 u_short stime[2]; /* set time (10 ms ticks) */ 140 u_short seq; /* sequence number */ 141 u_short gdop; /* best possible GDOP */ 142 u_short pdop; /* best possible PDOP */ 143 u_short hdop; /* best possible HDOP */ 144 u_short vdop; /* best possible VDOP */ 145 u_short tdop; /* best possible TDOP */ 146 u_short nvis; /* number of visible satellites */ 147 struct jvis2 { 148 u_short prn; /* satellite PRN */ 149 u_short azi; /* satellite azimuth (radians) */ 150 u_short elev; /* satellite elevation (radians) */ 151 } sat[12]; 152 u_short dsum; /* checksum */ 153}; 154 155/* JUPITER_O_ID (1011) */ 156struct jid { 157 u_short stime[2]; /* set time (10 ms ticks) */ 158 u_short seq; /* sequence number */ 159 char chans[20]; /* number of channels (ascii) */ 160 char vers[20]; /* software version (ascii) */ 161 char date[20]; /* software date (ascii) */ 162 char opts[20]; /* software options (ascii) */ 163 char reserved[20]; 164 u_short dsum; /* checksum */ 165}; 166 167/* JUPITER_O_USER (1012) */ 168struct juser { 169 u_short stime[2]; /* set time (10 ms ticks) */ 170 u_short seq; /* sequence number */ 171 u_short status; /* operatinoal status */ 172 u_short coldtmo; /* cold start time-out */ 173 u_short dgpstmo; /* DGPS correction time-out*/ 174 u_short emask; /* elevation mask */ 175 u_short selcand[2]; /* selected candidate */ 176 u_short solflags; /* solution validity criteria */ 177 u_short nsat; /* number of satellites in track */ 178 u_short herr[2]; /* minimum expected horizontal error */ 179 u_short verr[2]; /* minimum expected vertical error */ 180 u_short platform; /* application platform */ 181 u_short dsum; /* checksum */ 182}; 183 184/* JUPITER_O_PULSE (1108) */ 185struct jpulse { 186 u_short stime[2]; /* set time (10 ms ticks) */ 187 u_short seq; /* sequence number */ 188 u_short reserved[5]; 189 u_short sweek[2]; /* GPS seconds into week */ 190 short offs; /* GPS to UTC time offset (seconds) */ 191 u_short offns[2]; /* GPS to UTC offset (nanoseconds) */ 192 u_short flags; /* flags */ 193 u_short dsum; /* checksum */ 194}; 195#define JUPITER_O_PULSE_VALID 0x1 /* time mark validity */ 196#define JUPITER_O_PULSE_UTC 0x2 /* GPS/UTC sync */ 197 198/* JUPITER_O_EUP (1135) */ 199struct jeup { 200 u_short stime[2]; /* set time (10 ms ticks) */ 201 u_short seq; /* sequence number */ 202 u_char dataid; /* data id */ 203 u_char prn; /* satellite PRN */ 204 u_short dsum; /* checksum */ 205}; 206 207/* JUPITER_I_RESTART (1303) */ 208struct jrestart { 209 u_short seq; /* sequence number */ 210 u_short flags; 211 u_short dsum; /* checksum */ 212}; 213#define JUPITER_I_RESTART_INVRAM 0x01 214#define JUPITER_I_RESTART_INVEEPROM 0x02 215#define JUPITER_I_RESTART_INVRTC 0x04 216#define JUPITER_I_RESTART_COLD 0x80 217 218/* JUPITER_I_PVTINIT (1200) */ 219struct jpvtinit { 220 u_short flags; 221 u_short gweek; /* GPS week number */ 222 u_short sweek[2]; /* GPS seconds into week */ 223 u_short utcday; /* 1 to 31 */ 224 u_short utcmon; /* 1 to 12 */ 225 u_short utcyear; /* 1980 to 2079 */ 226 u_short utchour; /* 0 to 23 */ 227 u_short utcmin; /* 0 to 59 */ 228 u_short utcsec; /* 0 to 59 */ 229 u_short lat[2]; /* latitude (radians) */ 230 u_short lon[2]; /* longitude (radians) */ 231 u_short height[2]; /* height (meters) */ 232 u_short speed[2]; /* ground speed (meters/sec) */ 233 u_short course; /* true course (radians) */ 234 u_short climb; 235 u_short dsum; 236}; 237#define JUPITER_I_PVTINIT_FORCE 0x01 238#define JUPITER_I_PVTINIT_GPSVAL 0x02 239#define JUPITER_I_PVTINIT_UTCVAL 0x04 240#define JUPITER_I_PVTINIT_POSVAL 0x08 241#define JUPITER_I_PVTINIT_ALTVAL 0x10 242#define JUPITER_I_PVTINIT_SPDVAL 0x12 243#define JUPITER_I_PVTINIT_MAGVAL 0x14 244#define JUPITER_I_PVTINIT_CLIMBVAL 0x18 245 246/* JUPITER_I_PLAT (1220) */ 247struct jplat { 248 u_short seq; /* sequence number */ 249 u_short platform; /* application platform */ 250 u_short dsum; 251}; 252#define JUPITER_I_PLAT_DEFAULT 0 /* default dynamics */ 253#define JUPITER_I_PLAT_LOW 2 /* pedestrian */ 254#define JUPITER_I_PLAT_MED 5 /* land (e.g. automobile) */ 255#define JUPITER_I_PLAT_HIGH 6 /* air */ 256